Accessing different host's docker containers via portainer

I have a few containers (running various services) on my ubuntu server and i manage those containers via portainer, which is also one of these containers. I would like to also manage a pihole container (running on a different server (raspberry pi)) from that same portainer interface. The machines are on the same local, private, network.

I've read about people proxying/exposing the docker unix socket over tcp etc but that seems risky and unsecure and more like a workaround. I tried reading up on docker swarms but that seems like a different use case but i could be wrong.

Any help is very appreciated :)

You can deploy portainer/agent and access it via the agent url

  portainer_agent:
    image: portainer/agent
    container_name: portainer-agent
    ports:
    - "9001:9001"
    volumes:
    - /var/run/docker.sock:/var/run/docker.sock
    - /var/lib/docker/volumes:/var/lib/docker/volumes
    restart: unless-stopped